David's dead reckoning code for the LVBots competition on March 6th. Uses the mbed LPC1768, DRV8835, QTR-3RC, and two DC motors with encoders.
Dependencies: PololuEncoder Pacer mbed GeneralDebouncer
test.cpp@29:cfcf08d8ac79, 2014-03-04 (annotated)
- Committer:
- DavidEGrayson
- Date:
- Tue Mar 04 00:46:18 2014 +0000
- Revision:
- 29:cfcf08d8ac79
- Parent:
- 28:4374035df5e0
- Child:
- 30:84be2d602dc0
trying to figure out the analog problem;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
DavidEGrayson | 8:78b1ff957cba | 1 | // A file for testing routines that will not be used in the final firmware. |
DavidEGrayson | 8:78b1ff957cba | 2 | |
DavidEGrayson | 8:78b1ff957cba | 3 | #include <mbed.h> |
DavidEGrayson | 8:78b1ff957cba | 4 | #include "motors.h" |
DavidEGrayson | 9:9734347b5756 | 5 | #include <Pacer.h> |
DavidEGrayson | 9:9734347b5756 | 6 | |
DavidEGrayson | 21:c279c6a83671 | 7 | #include "main.h" |
DavidEGrayson | 9:9734347b5756 | 8 | #include "test.h" |
DavidEGrayson | 8:78b1ff957cba | 9 | #include "leds.h" |
DavidEGrayson | 9:9734347b5756 | 10 | #include "encoders.h" |
DavidEGrayson | 8:78b1ff957cba | 11 | #include "pc_serial.h" |
DavidEGrayson | 10:e4dd36148539 | 12 | #include "line_sensors.h" |
DavidEGrayson | 12:835a4d24ae3b | 13 | #include "reckoner.h" |
DavidEGrayson | 16:8eaa5bc2bdb1 | 14 | #include "buttons.h" |
DavidEGrayson | 16:8eaa5bc2bdb1 | 15 | |
DavidEGrayson | 20:dbec34f0e76b | 16 | void __attribute__((noreturn)) infiniteReckonerReportLoop(); |
DavidEGrayson | 10:e4dd36148539 | 17 | void printBar(const char * name, uint16_t adcResult); |
DavidEGrayson | 10:e4dd36148539 | 18 | |
DavidEGrayson | 29:cfcf08d8ac79 | 19 | void testAnalogReadWithFilter() |
DavidEGrayson | 29:cfcf08d8ac79 | 20 | { |
DavidEGrayson | 29:cfcf08d8ac79 | 21 | AnalogIn testInput(p18); |
DavidEGrayson | 29:cfcf08d8ac79 | 22 | Pacer reportPacer(1000000); |
DavidEGrayson | 29:cfcf08d8ac79 | 23 | uint32_t badCount = 0, goodCount = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 24 | while(1) |
DavidEGrayson | 29:cfcf08d8ac79 | 25 | { |
DavidEGrayson | 29:cfcf08d8ac79 | 26 | uint16_t reading = analogReadWithFilter(&testInput); |
DavidEGrayson | 29:cfcf08d8ac79 | 27 | if(reading > 100) |
DavidEGrayson | 29:cfcf08d8ac79 | 28 | { |
DavidEGrayson | 29:cfcf08d8ac79 | 29 | badCount += 1; |
DavidEGrayson | 29:cfcf08d8ac79 | 30 | pc.printf("f %5d %11d %11d\r\n", reading, badCount, goodCount); |
DavidEGrayson | 29:cfcf08d8ac79 | 31 | } |
DavidEGrayson | 29:cfcf08d8ac79 | 32 | else |
DavidEGrayson | 29:cfcf08d8ac79 | 33 | { |
DavidEGrayson | 29:cfcf08d8ac79 | 34 | goodCount += 1; |
DavidEGrayson | 29:cfcf08d8ac79 | 35 | } |
DavidEGrayson | 29:cfcf08d8ac79 | 36 | |
DavidEGrayson | 29:cfcf08d8ac79 | 37 | if (reportPacer.pace()) |
DavidEGrayson | 29:cfcf08d8ac79 | 38 | { |
DavidEGrayson | 29:cfcf08d8ac79 | 39 | pc.printf("Hello\r\n"); |
DavidEGrayson | 29:cfcf08d8ac79 | 40 | } |
DavidEGrayson | 29:cfcf08d8ac79 | 41 | } |
DavidEGrayson | 29:cfcf08d8ac79 | 42 | } |
DavidEGrayson | 29:cfcf08d8ac79 | 43 | |
DavidEGrayson | 28:4374035df5e0 | 44 | void testAnalog() |
DavidEGrayson | 28:4374035df5e0 | 45 | { |
DavidEGrayson | 28:4374035df5e0 | 46 | AnalogIn testInput(p18); |
DavidEGrayson | 28:4374035df5e0 | 47 | |
DavidEGrayson | 29:cfcf08d8ac79 | 48 | DigitalOut pin20(p20); |
DavidEGrayson | 29:cfcf08d8ac79 | 49 | DigitalOut pin19(p19); |
DavidEGrayson | 29:cfcf08d8ac79 | 50 | //DigitalOut pin18(p18); |
DavidEGrayson | 29:cfcf08d8ac79 | 51 | DigitalOut pin17(p17); |
DavidEGrayson | 29:cfcf08d8ac79 | 52 | DigitalOut pin16(p16); |
DavidEGrayson | 29:cfcf08d8ac79 | 53 | DigitalOut pin15(p15); |
DavidEGrayson | 29:cfcf08d8ac79 | 54 | |
DavidEGrayson | 29:cfcf08d8ac79 | 55 | pin20 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 56 | pin19 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 57 | //pin18 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 58 | pin17 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 59 | pin16 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 60 | pin15 = 0; |
DavidEGrayson | 29:cfcf08d8ac79 | 61 | |
DavidEGrayson | 28:4374035df5e0 | 62 | uint32_t badCount = 0, goodCount = 0; |
DavidEGrayson | 28:4374035df5e0 | 63 | |
DavidEGrayson | 28:4374035df5e0 | 64 | Pacer reportPacer(1000000); |
DavidEGrayson | 28:4374035df5e0 | 65 | while(1) |
DavidEGrayson | 28:4374035df5e0 | 66 | { |
DavidEGrayson | 28:4374035df5e0 | 67 | uint16_t reading = testInput.read_u16(); |
DavidEGrayson | 28:4374035df5e0 | 68 | if(reading > 100) |
DavidEGrayson | 28:4374035df5e0 | 69 | { |
DavidEGrayson | 28:4374035df5e0 | 70 | badCount += 1; |
DavidEGrayson | 28:4374035df5e0 | 71 | pc.printf("%5d %11d %11d\r\n", reading, badCount, goodCount); |
DavidEGrayson | 28:4374035df5e0 | 72 | } |
DavidEGrayson | 28:4374035df5e0 | 73 | else |
DavidEGrayson | 28:4374035df5e0 | 74 | { |
DavidEGrayson | 28:4374035df5e0 | 75 | goodCount += 1; |
DavidEGrayson | 28:4374035df5e0 | 76 | } |
DavidEGrayson | 28:4374035df5e0 | 77 | |
DavidEGrayson | 28:4374035df5e0 | 78 | if (reportPacer.pace()) |
DavidEGrayson | 28:4374035df5e0 | 79 | { |
DavidEGrayson | 28:4374035df5e0 | 80 | pc.printf("Hello\r\n"); |
DavidEGrayson | 28:4374035df5e0 | 81 | } |
DavidEGrayson | 28:4374035df5e0 | 82 | } |
DavidEGrayson | 28:4374035df5e0 | 83 | } |
DavidEGrayson | 28:4374035df5e0 | 84 | |
DavidEGrayson | 28:4374035df5e0 | 85 | // This also tests the LineTracker by printing out a lot of data from it. |
DavidEGrayson | 28:4374035df5e0 | 86 | void testLineFollowing() |
DavidEGrayson | 28:4374035df5e0 | 87 | { |
DavidEGrayson | 28:4374035df5e0 | 88 | led1 = 1; |
DavidEGrayson | 28:4374035df5e0 | 89 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 28:4374035df5e0 | 90 | { |
DavidEGrayson | 28:4374035df5e0 | 91 | updateReckonerFromEncoders(); |
DavidEGrayson | 28:4374035df5e0 | 92 | } |
DavidEGrayson | 28:4374035df5e0 | 93 | led2 = 1; |
DavidEGrayson | 28:4374035df5e0 | 94 | |
DavidEGrayson | 28:4374035df5e0 | 95 | Pacer reportPacer(200000); |
DavidEGrayson | 28:4374035df5e0 | 96 | |
DavidEGrayson | 28:4374035df5e0 | 97 | loadCalibration(); |
DavidEGrayson | 28:4374035df5e0 | 98 | uint16_t loopCount = 0; |
DavidEGrayson | 28:4374035df5e0 | 99 | while(1) |
DavidEGrayson | 28:4374035df5e0 | 100 | { |
DavidEGrayson | 28:4374035df5e0 | 101 | updateReckonerFromEncoders(); |
DavidEGrayson | 28:4374035df5e0 | 102 | bool lineVisiblePrevious = lineTracker.getLineVisible(); |
DavidEGrayson | 28:4374035df5e0 | 103 | lineTracker.read(); |
DavidEGrayson | 28:4374035df5e0 | 104 | updateMotorsToFollowLine(); |
DavidEGrayson | 28:4374035df5e0 | 105 | |
DavidEGrayson | 28:4374035df5e0 | 106 | loopCount += 1; |
DavidEGrayson | 28:4374035df5e0 | 107 | |
DavidEGrayson | 28:4374035df5e0 | 108 | if (lineVisiblePrevious != lineTracker.getLineVisible()) |
DavidEGrayson | 28:4374035df5e0 | 109 | { |
DavidEGrayson | 28:4374035df5e0 | 110 | pc.printf("%5d ! %1d %4d | %4d %4d %4d | %5d %5d %5d\r\n", |
DavidEGrayson | 28:4374035df5e0 | 111 | loopCount, lineTracker.getLineVisible(), lineTracker.getLinePosition(), |
DavidEGrayson | 28:4374035df5e0 | 112 | lineTracker.calibratedValues[0], lineTracker.calibratedValues[1], lineTracker.calibratedValues[2], |
DavidEGrayson | 28:4374035df5e0 | 113 | lineTracker.rawValues[0], lineTracker.rawValues[1], lineTracker.rawValues[2] |
DavidEGrayson | 28:4374035df5e0 | 114 | ); |
DavidEGrayson | 28:4374035df5e0 | 115 | } |
DavidEGrayson | 28:4374035df5e0 | 116 | |
DavidEGrayson | 28:4374035df5e0 | 117 | if (reportPacer.pace()) |
DavidEGrayson | 28:4374035df5e0 | 118 | { |
DavidEGrayson | 28:4374035df5e0 | 119 | pc.printf("%5d %1d %4d | %4d %4d %4d\r\n", loopCount, lineTracker.getLineVisible(), lineTracker.getLinePosition(), |
DavidEGrayson | 28:4374035df5e0 | 120 | lineTracker.calibratedValues[0], lineTracker.calibratedValues[1], lineTracker.calibratedValues[2] |
DavidEGrayson | 28:4374035df5e0 | 121 | ); |
DavidEGrayson | 28:4374035df5e0 | 122 | } |
DavidEGrayson | 28:4374035df5e0 | 123 | } |
DavidEGrayson | 28:4374035df5e0 | 124 | } |
DavidEGrayson | 28:4374035df5e0 | 125 | |
DavidEGrayson | 17:2df9861f53ee | 126 | void testDriveHome() |
DavidEGrayson | 16:8eaa5bc2bdb1 | 127 | { |
DavidEGrayson | 17:2df9861f53ee | 128 | led1 = 1; |
DavidEGrayson | 18:b65fbb795396 | 129 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 17:2df9861f53ee | 130 | { |
DavidEGrayson | 17:2df9861f53ee | 131 | updateReckonerFromEncoders(); |
DavidEGrayson | 21:c279c6a83671 | 132 | } |
DavidEGrayson | 21:c279c6a83671 | 133 | driveHomeAlmost(); |
DavidEGrayson | 21:c279c6a83671 | 134 | finalSettleIn(); |
DavidEGrayson | 20:dbec34f0e76b | 135 | infiniteReckonerReportLoop(); |
DavidEGrayson | 20:dbec34f0e76b | 136 | } |
DavidEGrayson | 20:dbec34f0e76b | 137 | |
DavidEGrayson | 20:dbec34f0e76b | 138 | void testFinalSettleIn() |
DavidEGrayson | 20:dbec34f0e76b | 139 | { |
DavidEGrayson | 20:dbec34f0e76b | 140 | led1 = 1; |
DavidEGrayson | 20:dbec34f0e76b | 141 | while(!button1DefinitelyPressed()) |
DavidEGrayson | 20:dbec34f0e76b | 142 | { |
DavidEGrayson | 20:dbec34f0e76b | 143 | updateReckonerFromEncoders(); |
DavidEGrayson | 20:dbec34f0e76b | 144 | } |
DavidEGrayson | 20:dbec34f0e76b | 145 | finalSettleIn(); |
DavidEGrayson | 20:dbec34f0e76b | 146 | infiniteReckonerReportLoop(); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 147 | } |
DavidEGrayson | 16:8eaa5bc2bdb1 | 148 | |
DavidEGrayson | 17:2df9861f53ee | 149 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 150 | void testButtons() |
DavidEGrayson | 16:8eaa5bc2bdb1 | 151 | { |
DavidEGrayson | 16:8eaa5bc2bdb1 | 152 | led1 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 153 | |
DavidEGrayson | 17:2df9861f53ee | 154 | while(!button1DefinitelyReleased()); |
DavidEGrayson | 17:2df9861f53ee | 155 | while(!button1DefinitelyPressed()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 156 | led2 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 157 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 158 | while(!button1DefinitelyReleased()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 159 | while(!button1DefinitelyPressed()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 160 | led3 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 161 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 162 | while(!button1DefinitelyReleased()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 163 | while(!button1DefinitelyPressed()); |
DavidEGrayson | 16:8eaa5bc2bdb1 | 164 | led4 = 1; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 165 | |
DavidEGrayson | 16:8eaa5bc2bdb1 | 166 | while(1){}; |
DavidEGrayson | 16:8eaa5bc2bdb1 | 167 | } |
DavidEGrayson | 16:8eaa5bc2bdb1 | 168 | |
DavidEGrayson | 12:835a4d24ae3b | 169 | void testReckoner() |
DavidEGrayson | 12:835a4d24ae3b | 170 | { |
DavidEGrayson | 13:bba5b3abd13f | 171 | Pacer reportPacer(100000); |
DavidEGrayson | 12:835a4d24ae3b | 172 | while(1) |
DavidEGrayson | 12:835a4d24ae3b | 173 | { |
DavidEGrayson | 12:835a4d24ae3b | 174 | updateReckonerFromEncoders(); |
DavidEGrayson | 13:bba5b3abd13f | 175 | led1 = (reckoner.cos > 0); |
DavidEGrayson | 13:bba5b3abd13f | 176 | led2 = (reckoner.sin > 0); |
DavidEGrayson | 13:bba5b3abd13f | 177 | led3 = (reckoner.x > 0); |
DavidEGrayson | 13:bba5b3abd13f | 178 | led4 = (reckoner.y > 0); |
DavidEGrayson | 12:835a4d24ae3b | 179 | |
DavidEGrayson | 13:bba5b3abd13f | 180 | if (reportPacer.pace()) |
DavidEGrayson | 13:bba5b3abd13f | 181 | { |
DavidEGrayson | 19:a11ffc903774 | 182 | pc.printf("%11d %11d %11d %11d | %8d %8d %10f\r\n", |
DavidEGrayson | 13:bba5b3abd13f | 183 | reckoner.cos, reckoner.sin, reckoner.x, reckoner.y, |
DavidEGrayson | 19:a11ffc903774 | 184 | encoderLeft.getCount(), encoderRight.getCount(), determinant()); |
DavidEGrayson | 13:bba5b3abd13f | 185 | } |
DavidEGrayson | 12:835a4d24ae3b | 186 | } |
DavidEGrayson | 12:835a4d24ae3b | 187 | } |
DavidEGrayson | 12:835a4d24ae3b | 188 | |
DavidEGrayson | 10:e4dd36148539 | 189 | void testLineSensors() |
DavidEGrayson | 10:e4dd36148539 | 190 | { |
DavidEGrayson | 10:e4dd36148539 | 191 | led1 = 1; |
DavidEGrayson | 10:e4dd36148539 | 192 | Pacer reportPacer(100000); |
DavidEGrayson | 10:e4dd36148539 | 193 | bool const printBarGraph = true; |
DavidEGrayson | 10:e4dd36148539 | 194 | while (1) |
DavidEGrayson | 10:e4dd36148539 | 195 | { |
DavidEGrayson | 10:e4dd36148539 | 196 | if (reportPacer.pace()) |
DavidEGrayson | 10:e4dd36148539 | 197 | { |
DavidEGrayson | 10:e4dd36148539 | 198 | uint16_t left = lineSensorsAnalog[0].read_u16(); |
DavidEGrayson | 10:e4dd36148539 | 199 | uint16_t middle = lineSensorsAnalog[1].read_u16(); |
DavidEGrayson | 10:e4dd36148539 | 200 | uint16_t right = lineSensorsAnalog[2].read_u16(); |
DavidEGrayson | 10:e4dd36148539 | 201 | |
DavidEGrayson | 10:e4dd36148539 | 202 | if (printBarGraph) |
DavidEGrayson | 10:e4dd36148539 | 203 | { |
DavidEGrayson | 10:e4dd36148539 | 204 | pc.printf("\x1B[0;0H"); // VT100 command for "go to 0,0" |
DavidEGrayson | 10:e4dd36148539 | 205 | printBar("L", left); |
DavidEGrayson | 10:e4dd36148539 | 206 | printBar("M", middle); |
DavidEGrayson | 10:e4dd36148539 | 207 | printBar("R", right); |
DavidEGrayson | 10:e4dd36148539 | 208 | } |
DavidEGrayson | 10:e4dd36148539 | 209 | else |
DavidEGrayson | 10:e4dd36148539 | 210 | { |
DavidEGrayson | 10:e4dd36148539 | 211 | pc.printf("%8d %8d %8d\n", left, middle, right); |
DavidEGrayson | 10:e4dd36148539 | 212 | } |
DavidEGrayson | 10:e4dd36148539 | 213 | } |
DavidEGrayson | 10:e4dd36148539 | 214 | } |
DavidEGrayson | 10:e4dd36148539 | 215 | } |
DavidEGrayson | 8:78b1ff957cba | 216 | |
DavidEGrayson | 24:fc01d9125d3b | 217 | // Values from David's office Values from dev lab, |
DavidEGrayson | 24:fc01d9125d3b | 218 | // in the day time, 2014-02-27: 2014-02-27: |
DavidEGrayson | 22:44c032e59ff5 | 219 | // # calmin calmax |
DavidEGrayson | 24:fc01d9125d3b | 220 | // 0 34872 59726 0 40617 60222 |
DavidEGrayson | 24:fc01d9125d3b | 221 | // 1 29335 60110 1 36937 61198 |
DavidEGrayson | 24:fc01d9125d3b | 222 | // 2 23845 58446 2 33848 58862 |
DavidEGrayson | 22:44c032e59ff5 | 223 | void testCalibrate() |
DavidEGrayson | 22:44c032e59ff5 | 224 | { |
DavidEGrayson | 22:44c032e59ff5 | 225 | Timer timer; |
DavidEGrayson | 22:44c032e59ff5 | 226 | timer.start(); |
DavidEGrayson | 22:44c032e59ff5 | 227 | |
DavidEGrayson | 22:44c032e59ff5 | 228 | Pacer reportPacer(200000); |
DavidEGrayson | 22:44c032e59ff5 | 229 | |
DavidEGrayson | 24:fc01d9125d3b | 230 | bool doneCalibrating = false; |
DavidEGrayson | 24:fc01d9125d3b | 231 | |
DavidEGrayson | 24:fc01d9125d3b | 232 | led1 = 1; |
DavidEGrayson | 24:fc01d9125d3b | 233 | |
DavidEGrayson | 22:44c032e59ff5 | 234 | while(1) |
DavidEGrayson | 22:44c032e59ff5 | 235 | { |
DavidEGrayson | 22:44c032e59ff5 | 236 | lineTracker.read(); |
DavidEGrayson | 24:fc01d9125d3b | 237 | if(!doneCalibrating) |
DavidEGrayson | 24:fc01d9125d3b | 238 | { |
DavidEGrayson | 24:fc01d9125d3b | 239 | lineTracker.updateCalibration(); |
DavidEGrayson | 24:fc01d9125d3b | 240 | } |
DavidEGrayson | 24:fc01d9125d3b | 241 | |
DavidEGrayson | 24:fc01d9125d3b | 242 | led2 = calibrationLooksGood(); |
DavidEGrayson | 24:fc01d9125d3b | 243 | led3 = doneCalibrating; |
DavidEGrayson | 24:fc01d9125d3b | 244 | led4 = lineTracker.getLineVisible(); |
DavidEGrayson | 24:fc01d9125d3b | 245 | |
DavidEGrayson | 24:fc01d9125d3b | 246 | if (button1DefinitelyPressed()) |
DavidEGrayson | 24:fc01d9125d3b | 247 | { |
DavidEGrayson | 24:fc01d9125d3b | 248 | doneCalibrating = true; |
DavidEGrayson | 24:fc01d9125d3b | 249 | } |
DavidEGrayson | 22:44c032e59ff5 | 250 | |
DavidEGrayson | 22:44c032e59ff5 | 251 | if (reportPacer.pace()) |
DavidEGrayson | 22:44c032e59ff5 | 252 | { |
DavidEGrayson | 22:44c032e59ff5 | 253 | pc.printf("\x1B[0;0H"); // VT100 command for "go to 0,0" |
DavidEGrayson | 22:44c032e59ff5 | 254 | for(uint8_t s = 0; s < LINE_SENSOR_COUNT; s++) |
DavidEGrayson | 22:44c032e59ff5 | 255 | { |
DavidEGrayson | 22:44c032e59ff5 | 256 | pc.printf("%-2d %5d %5d %5d\r\n", s, lineTracker.calibratedMinimum[s], lineTracker.rawValues[s], lineTracker.calibratedMaximum[s]); |
DavidEGrayson | 22:44c032e59ff5 | 257 | } |
DavidEGrayson | 22:44c032e59ff5 | 258 | if (calibrationLooksGood()) |
DavidEGrayson | 22:44c032e59ff5 | 259 | { |
DavidEGrayson | 22:44c032e59ff5 | 260 | pc.puts("Good. \r\n"); |
DavidEGrayson | 22:44c032e59ff5 | 261 | } |
DavidEGrayson | 22:44c032e59ff5 | 262 | else |
DavidEGrayson | 22:44c032e59ff5 | 263 | { |
DavidEGrayson | 22:44c032e59ff5 | 264 | pc.puts("Not good yet.\r\n"); |
DavidEGrayson | 22:44c032e59ff5 | 265 | } |
DavidEGrayson | 22:44c032e59ff5 | 266 | } |
DavidEGrayson | 22:44c032e59ff5 | 267 | } |
DavidEGrayson | 22:44c032e59ff5 | 268 | } |
DavidEGrayson | 22:44c032e59ff5 | 269 | |
DavidEGrayson | 9:9734347b5756 | 270 | void testEncoders() |
DavidEGrayson | 9:9734347b5756 | 271 | { |
DavidEGrayson | 9:9734347b5756 | 272 | Pacer reportPacer(500000); |
DavidEGrayson | 10:e4dd36148539 | 273 | led1 = 1; |
DavidEGrayson | 9:9734347b5756 | 274 | while(1) |
DavidEGrayson | 9:9734347b5756 | 275 | { |
DavidEGrayson | 9:9734347b5756 | 276 | while(encoderBuffer.hasEvents()) |
DavidEGrayson | 9:9734347b5756 | 277 | { |
DavidEGrayson | 9:9734347b5756 | 278 | PololuEncoderEvent event = encoderBuffer.readEvent(); |
DavidEGrayson | 9:9734347b5756 | 279 | } |
DavidEGrayson | 9:9734347b5756 | 280 | |
DavidEGrayson | 9:9734347b5756 | 281 | if(reportPacer.pace()) |
DavidEGrayson | 9:9734347b5756 | 282 | { |
DavidEGrayson | 9:9734347b5756 | 283 | led2 = 1; |
DavidEGrayson | 9:9734347b5756 | 284 | pc.printf("%8d %8d\n", encoderLeft.getCount(), encoderRight.getCount()); |
DavidEGrayson | 9:9734347b5756 | 285 | led2 = 0; |
DavidEGrayson | 10:e4dd36148539 | 286 | } |
DavidEGrayson | 9:9734347b5756 | 287 | } |
DavidEGrayson | 9:9734347b5756 | 288 | } |
DavidEGrayson | 9:9734347b5756 | 289 | |
DavidEGrayson | 8:78b1ff957cba | 290 | void testMotors() |
DavidEGrayson | 8:78b1ff957cba | 291 | { |
DavidEGrayson | 8:78b1ff957cba | 292 | led1 = 1; |
DavidEGrayson | 8:78b1ff957cba | 293 | led2 = 0; |
DavidEGrayson | 8:78b1ff957cba | 294 | led3 = 0; |
DavidEGrayson | 8:78b1ff957cba | 295 | while(1) |
DavidEGrayson | 8:78b1ff957cba | 296 | { |
DavidEGrayson | 9:9734347b5756 | 297 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 298 | led2 = 0; |
DavidEGrayson | 8:78b1ff957cba | 299 | led3 = 0; |
DavidEGrayson | 8:78b1ff957cba | 300 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 301 | |
DavidEGrayson | 9:9734347b5756 | 302 | motorsSpeedSet(300, 300); |
DavidEGrayson | 8:78b1ff957cba | 303 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 304 | |
DavidEGrayson | 9:9734347b5756 | 305 | motorsSpeedSet(-300, 300); |
DavidEGrayson | 8:78b1ff957cba | 306 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 307 | |
DavidEGrayson | 9:9734347b5756 | 308 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 309 | led2 = 1; |
DavidEGrayson | 8:78b1ff957cba | 310 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 311 | |
DavidEGrayson | 9:9734347b5756 | 312 | motorsSpeedSet(600, 600); |
DavidEGrayson | 8:78b1ff957cba | 313 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 314 | |
DavidEGrayson | 9:9734347b5756 | 315 | motorsSpeedSet(0, 0); |
DavidEGrayson | 8:78b1ff957cba | 316 | led3 = 1; |
DavidEGrayson | 8:78b1ff957cba | 317 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 318 | |
DavidEGrayson | 9:9734347b5756 | 319 | motorsSpeedSet(1200, 1200); |
DavidEGrayson | 8:78b1ff957cba | 320 | wait(2); |
DavidEGrayson | 8:78b1ff957cba | 321 | } |
DavidEGrayson | 10:e4dd36148539 | 322 | } |
DavidEGrayson | 10:e4dd36148539 | 323 | |
DavidEGrayson | 20:dbec34f0e76b | 324 | void infiniteReckonerReportLoop() |
DavidEGrayson | 20:dbec34f0e76b | 325 | { |
DavidEGrayson | 20:dbec34f0e76b | 326 | Pacer reportPacer(200000); |
DavidEGrayson | 20:dbec34f0e76b | 327 | while(1) |
DavidEGrayson | 20:dbec34f0e76b | 328 | { |
DavidEGrayson | 20:dbec34f0e76b | 329 | if(reportPacer.pace()) |
DavidEGrayson | 20:dbec34f0e76b | 330 | { |
DavidEGrayson | 20:dbec34f0e76b | 331 | led4 = 1; |
DavidEGrayson | 20:dbec34f0e76b | 332 | pc.printf("%11d %11d %11d %11d | %11f %11f\r\n", |
DavidEGrayson | 20:dbec34f0e76b | 333 | reckoner.cos, reckoner.sin, reckoner.x, reckoner.y, |
DavidEGrayson | 20:dbec34f0e76b | 334 | determinant(), dotProduct()); |
DavidEGrayson | 20:dbec34f0e76b | 335 | led4 = 0; |
DavidEGrayson | 20:dbec34f0e76b | 336 | } |
DavidEGrayson | 20:dbec34f0e76b | 337 | } |
DavidEGrayson | 20:dbec34f0e76b | 338 | |
DavidEGrayson | 20:dbec34f0e76b | 339 | } |
DavidEGrayson | 20:dbec34f0e76b | 340 | |
DavidEGrayson | 10:e4dd36148539 | 341 | void printBar(const char * name, uint16_t adcResult) |
DavidEGrayson | 10:e4dd36148539 | 342 | { |
DavidEGrayson | 10:e4dd36148539 | 343 | pc.printf("%-2s %5d |", name, adcResult); |
DavidEGrayson | 10:e4dd36148539 | 344 | uint8_t width = adcResult >> 10; |
DavidEGrayson | 10:e4dd36148539 | 345 | uint8_t i; |
DavidEGrayson | 10:e4dd36148539 | 346 | for(i = 0; i < width; i++){ pc.putc('#'); } |
DavidEGrayson | 10:e4dd36148539 | 347 | for(; i < 63; i++){ pc.putc(' '); } |
DavidEGrayson | 10:e4dd36148539 | 348 | pc.putc('|'); |
DavidEGrayson | 10:e4dd36148539 | 349 | pc.putc('\n'); |
DavidEGrayson | 8:78b1ff957cba | 350 | } |